Quadcopter faced a barometer sensor issue, the quadcopter was in air and was at 200m and suddenly at HUD in GCS it started displaying 4 meters altitude. Still the quadcopter was in air, then i hit RTL, for the safe RTL path, it climbed from 200 meters to 300 meters as the internal NavEKF get_altitude was returning 4m altitude, so autopilot gained height to reach 100m but actually reached 300m+
Now, the reason for this what i am thinking is, num_sensors has got value =2 and two instances are created that means AP_BARO_MS5611 *probe has init two instances of baro sensors, when there was just one, it maybe because of bus restart or num_sensors++ that i am not able to figure out,
Secondly, can 4m of altitude can be a outcome of EKF getting applied on two baro, BARO and BAR2, BARO having altitude =0 and BAR2 altitude = 200.
I am attaching the logs, please respond soon, as it can be a bug and needs to be addressed.
here is the link to the logs https://drive.google.com/file/d/1S46j3R6zhV81y_v1eUhacYMuV-6r2M_8/view?usp=sharing
ArduCopter version, 3.4.5